期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
DOI：10.5772/63116
语种：English
出版社：SAGE Publications
摘要：Humanoid robots are versatile robot platforms that can carry out intelligent tasks and services for humans, including intimate interactions. For high mobility, a robust stabilization of motion including biped walking is crucial. This paper employs and elaborates on sensory reflex control to stabilize standing motion and biped walking using basic sensors such as an inertial measurement unit (IMU) and a force-sensing resistor (FSR). Specifically, normalized zero-moment points processed from FSR data are used in the reflexive control of a simple motion of swinging the whole body while standing, and the measured inclination angle of the trunk, filtered from IMU data, is used for biped walking on a sloped floor. The proposed control scheme is validated through experiments with the commercial humanoid robot, ROBOTIS-OP.
